Recent advances in quadrotor capabilities

This video features advanced control capabilities for a quadrotor helicopter. We use an Ascending Technologies Hummingbird quadrotor [1] in conjunction with a Vicon [2] motion capture system in a flight arena [3] . The video shows a single quadrotor flying through windows with only three inches of clearance on any side of the platform and perching on vertical, declined, and inclined walls. Robustness to failed perching is demonstrated when it recovers to a stable hover from a failed perching attempt. Next, the video shows control along optimal trajectories through desired waypoints which includes flying through static and thrown hoops. Seen next is a gripper designed for the quadrotor to pickup objects and perch on horizontal surfaces. Finally, multiple quadrotors are shown cooperatively manipulating payloads to which they are rigidly attached.